JP2553298B2 - Machine control or monitoring equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine-for example, a facility for manufacturing parts manufactured in two or more steps-.
Control or monitoring device.

[0002]

2. Description of the Prior Art In the manufacture of machines, it is extremely expensive to install switching, adjusting and monitoring mechanisms for such control and monitoring devices and individual devices. In most cases at present, the rough mechanical work of such machines is followed by the start of the assembly of the control equipment. To this end, a switching mechanism for the pressure medium used, such as a magnetically actuated compressed air valve in the case of compressed air or water pressure, a hydraulic valve, etc., is assembled on its own holding device and frame, each individual valve having a pressure The medium inlet pipe and the pressure medium outlet pipe must be connected separately. Almost the same situation exists when assembling electrical switching, adjusting and monitoring mechanisms. The cost of this type of assembly operation is extremely high, especially if the machine is equipped with devices that have to perform a large number of complex movements, which must be produced, for example, in two steps or more. This is the case for manufacturing equipment for parts that must be used. Machines of this type, which are often referred to as automatic assembly machines, require a large variety of individual movements in order to be able to produce a predetermined workpiece from a large number of individual parts.

Moreover, since machines of this kind are usually used for the mass production of workpieces, the time used for each individual movement is correspondingly very short, so that individual movements during one working process are carried out. The number of can be quite large. Accordingly, there is a great possibility that maintenance work will be performed on this type of machine or its control device.

Moreover, such maintenance work that occurs in machines of this kind must be carried out very rapidly. This is because the cost of product loss when such machines are stopped is significantly higher. In particular, in the electrical part of the control device, the circuit structure is simplified by using a printed card or an integrated circuit integrated in the switching unit, and furthermore, the defective circuit part is made replaceable to simplify maintenance. Has been done so far.

However, there is still the drawback that a large number of terminal blocks must be provided in the output area of this type of control device, and the lines leading to the individual switching, regulating and monitoring mechanisms must be connected to this terminal block. I have to. Therefore, the assembly costs are significantly higher, even if the energy supply of this controller is provided by the central supply line.

The same applies to the switch mechanism when the pressure medium is supplied. Here again, it has already been attempted to obtain some kind of simplification by providing a special opening on the base plate into which a solenoid valve, for example with a correspondingly configured connecting piece, can be inserted. (See Austrian patent 278460).

In this case, therefore, only one terminal is required on the pressure medium side, and by mounting various valves, such a switching block can be formed relatively quickly. But still, each of the electromagnetic drives had to be connected to the control line separately,
Further, there is a drawback that a long signal line up to the control line must be required. The conductor losses and faults that occur in this case lead to further disadvantages, especially in digital electronic control. This not only results in significantly higher costs for the construction of the machine, but also for maintenance as well. The reason for this is that all lines must be disengaged separately and must be re-coupled to each other after the defective part has been replaced. Moreover, in electronic technology, high defect rates are almost always unavoidable.

In another known valve device, it is also known to provide a central fixing plate for the valve housing (see Austrian patent 263472). The valve housing is fixed on the fixing plate via a quick fixing device. The above-mentioned valve, compared to other known valves,
It has the advantage that it can be removed from the valve housing fixing plate even under pressure. This is because a special closing element for the opening of the line terminal is provided on the fixing plate, but in this case as well, the formation of the electrical terminal is extremely expensive.

[0009]

SUMMARY OF THE INVENTION The object of the invention is therefore to provide a machine control and / or monitoring device which consists of the fewest possible and easily replaceable components and which can be quickly assembled or replaced in a machine. To provide. Furthermore, in this case, by the control device,
In the event of a failure, it must be possible to quickly identify the defective part of the machine.

[0010]

According to the invention, this problem is solved by the arrangement according to claim 1 or 2.

[0011]

The recognition according to the invention makes it possible, in a surprisingly simple manner, to integrate complex devices for control and monitoring, often using modular units of the same kind. Furthermore, sufficiency can be obtained by using a small number of different standard modules. By compactly arranging the individual switching, regulating and monitoring mechanisms in standardized and possibly pre-programmed modules of the same size, it is easy to hold spare parts in conjunction with the coupling device. , Quick replacement of individual modules and quick assembly are also guaranteed. For the first time, this also applies to the modules for the supply of pressure medium and also for the control and monitoring of the functions of the individual machines. These individual electric control modules,
The arrangement in which the switching module and the monitoring-control module are combined with the central control unit allows the standardized unit to be adapted very flexibly to different purposes of use. The central control unit thus synchronizes the individual modules and allows their functions to be controlled in time.

Since most of these modules can already be preformed, the work time required for assembling the machine can likewise be reduced. Furthermore, this new solution makes it possible, in particular in electric control modules, to have a plurality of basic circuit elements, which can be freely programmed.
Can be used, resulting in maximum use of standard units in controlling the machine. Therefore, in the event of a failure or maintenance work, remove the module from the controller (by disconnecting the module connector),
It is easily possible to replace it with a new module.

The repair or repair of the defective module can be carried out at a special work station equipped for that purpose. This modular system results in more circuit elements in the module being needed for the control of a particular individual device in such a machine, but overall it uses a standardized module. That is more economical, even if they are not always fully used.

According to another very important aspect of the invention,
The lines for control and monitoring and the lines for supplying the pressure medium are arranged in a substantially similar manner on the coupling device of the switching module and the electric control module, each module being connected to one another via this coupling device. , Or a connecting line to a drive, a central energy supply unit or a central control unit, which is detachably and replaceably connected.

On each connecting device of the connecting lines of the various modules and drives, the central energy supply unit and the central control unit, the lines for control and monitoring and the lines for the supply of pressure medium are likewise provided. The arrangement allows the individual modules and control units to be freely combined.

At the same time, it is possible to avoid damage to the control element due to incorrect line connections when assembling the module and the connecting lines.

Further advantageously according to the invention, the switching module is a valve having a plurality of basic switching functions,
It can be formed in particular from a three-port two-position valve with a remote controllable drive and can have a pressure medium inlet, a coupling device for the outlet and an input end, an output end of the control line. By using standardized valves with a basic switching function and with a remote controllable drive, a number of control functions can be achieved by appropriately connecting the individual valves to each other, i.e. their outputs. In the case of valves, it is thus possible to find sufficiency in a very wide range with the module.

Furthermore, according to the invention, the drive unit and the valve body of the switching module form a unique unit of standardized size, which units are exchanged with one another via corresponding detachable assembly elements. Can be combined as possible. By dividing the module into a plurality of standardized parts, various easiness of repair of the switching mechanism part can be considered. Experience has shown that the remotely actuable electromagnetic drive for the pressure medium valve is more susceptible to damage than the mechanical valve part, in which case the drive of the switching module can be operated from the mechanical valve disc with a small amount of manipulation. It can be removed. Thus, a defective module can also be repaired quickly, so that even large installations can be fully satisfied with a relatively small number of spare modules for maintenance.

According to a further advantageous embodiment of the invention, a plurality of valve bodies and drives or electrical switching mechanisms or the like are arranged in one switching module, and in some cases these valve bodies and The drives are each arranged in their own unit of the switching module. Multiple control mechanisms, such as valves or electrical switching mechanisms, into one unique unit,
For example, by grouping into 3, 6, or 9 groups,
The number of connections between these individual components can be reduced,
As a result, the unit can be manufactured very cost-effectively. This is because the coupling device occupies a considerably high cost. Even more advantageously, the various individual parts in the control device are reduced,
The number of units to be checked in case of machine failure is thereby further reduced.

According to another embodiment of the invention, the electrical control module comprises an electrical or electronic control unit, which is designed to be particularly programmable and of the switching module or group of switching modules. Formed to energize an electrical, pneumatic, or hydraulic drive. The advantages that occur when the control unit is arranged in the control module belonging to each switching module are, inter alia, that the electric control module and the associated switching module form one compact control device, which control device itself. It can be driven independently of everything.

The great advantage of the solution according to the invention is that a distributed control system can be constructed, that is to say that each valve or each valve group is equipped with the necessary electrical control module, so that a compact control system can be provided in the area of the drive system. There is a point that can be formed. Therefore, the lines from the monitoring mechanism or from the switching mechanism such as the drive and valves etc. can be made very short and this decentralized control device can be tested relatively easily. Therefore, advantageously, the construction of large switching cabinets with a large number of different units and the long lines leading up to the central control unit can be avoided.

Advantageously, according to the invention, the electrical control module comprises an electrical or electronic logic operation unit, which logic operation unit belongs to a switching module or a monitoring mechanism provided in the machine or workstation. Can be made. In this way, configuring the logical operation unit in the electric control module
It makes it possible for the logical operation of information to also be carried out directly in the area of the switching module, ie in the area of the valve.

Therefore, the operation of the switching module should be performed not only with one input pulse, but also with respect to, for example, a plurality of pulses of various monitoring mechanisms and a production notification pulse of a preceding or following electric control module. You can

Furthermore, according to the invention, a coupling device or a group of coupling devices, for example multiple plugs, is arranged in the electrical control module, on which the control lines belonging to the switching module are grouped, so that the individual control lines. It is possible to avoid defects or damage to the switching or control elements when the module is coupled to the control device.

According to another variant of the invention, another coupling device is arranged on the electrical control module, to which a control line for the monitoring mechanism is connected. Since each electric control module is provided with its own coupling device for connecting with the monitoring mechanism, each electric control module can be arbitrarily expanded later at any time. Similarly, it allows the supply of data and information directly related to the control functions of the electrical control module without diversions or sources of defects. Therefore, the accuracy and efficiency of the electric control module is further enhanced.

According to another embodiment of the invention, the electrical control module comprises a central coupling device, to which the control, monitoring and supply lines to be connected to the main connection line are connected. By coupling the electrical control module with the main connection line, the various electrical control modules, to which the various switching modules belong, are synchronized via an external center and in the interrelated motion processes caused by the various modules. The possibility of ensuring an even course of the individual control processes is obtained. Therefore, it is possible to execute the central control program even when the control devices are distributed and arranged.

The electrical control module, in particular for energizing the plurality of switching modules, comprises a microprocessor, the microprocessor of the electrical control module being synchronized by the control unit via the main connection line, for example with time pulses. The solution according to the invention that makes it possible is particularly advantageous. This is this,
This is because the variety of control functions that can be obtained is extremely enhanced.

Further within the framework of the invention, the electrical control module is operatively connected to the control unit via the output end of the output conversion unit, the input end of the input conversion unit and the main connection line, the output conversion unit being Formed as accumulators and converters of the output signals of the electric control module, the input conversion unit can be formed for distributing the command signals to the individual units of the electric control module. As a result, even with a large amount of information to be transmitted to the central control unit, fewer lines are required and the source of defects in the plug element and thus in the area of this plug element required when connecting the connecting lines is reduced. Furthermore, this solution makes it possible to expand the information that can be transmitted for each line even in the existing equipment without further laying another connection line when introducing a new technology.

In another advantageous embodiment, the control unit and the logic unit are formed by integrated circuits and are arranged in particular on a print card which can be changeably inserted in the housing of the control unit. By arranging or using the print card in the electrical control module, it is possible to use the same parts as much as possible for different control functions, such as a print card with a housing and the same logic elements. Therefore, only a print card with different units is needed in order to be able to carry out extremely complex combination and control processes.

According to the various techniques available, which can be achieved by the new solution of decentralized control, the input, output conversion unit is, for example, a photocoupler, an amplifier circuit, or a device for converting electrical pulses into optical pulses. , Or an AD converter or the like. In connection with this solution, according to another embodiment of the present invention, an intermediate memory, which is controlled in a particularly time-related manner, is arranged between the input conversion unit, the output conversion unit and the main connection line. There is. Therefore, a plurality of pieces of information generated at various points at various times can be combined into a so-called pulse train and commonly transmitted to, for example, one control unit. This also reduces the energizing time of the main connection line and allows more information to be transmitted via the conductor.

According to the invention, furthermore, the coupling device for connecting the electrical control, monitoring and supply lines is formed by multiple plugs, which multiple plugs are provided with plug members which can be inserted especially if necessary. And is advantageous. Accordingly, the line core existing in the connection line can be used for connecting various control modules when connecting a plurality of electric control modules by appropriately mounting a multiple plug having a plug member. it can.

Further, the connecting device for controlling, monitoring and supplying the pressure medium comprises a plug connecting body, and the connecting device to be connected is provided with an opening and a connecting piece which form a plug connecting body, in particular, the opening is connected. It is advantageous to be able to automatically close in a pressure-tight manner when the pieces are removed. As a result, quick replacement is possible even if the valve body of the switching module is damaged, which gives rise to various possible combinations in the pressure medium switching module. Furthermore, it is possible to replace a defective valve body of the switching module without stopping the pressure medium system.

According to another highly advantageous embodiment of the invention, the monitoring-control module comprises a monitoring mechanism and a drive of a machining or assembly device belonging to the machine or of the machine, in particular via a switching module and an electric control module. It is operatively coupled and has a switching mechanism, which fails when the output of the monitoring mechanism or the driving device does not appear or at the input end of the alarm mechanism for indicating the state of the driving device or the processing or assembly device. It is activated when a signal is applied. The special configuration of the supervisory-control module, which has a monitoring mechanism for indicating the state of the machine, allows the operator to recognize not only the defective points and switching states of the control device, but also the state of the machine and each state of individual parts. be able to. In that way, the prospect of whether a machine failure is attributable to a mechanical failure (90% of failures according to experience) or an actual defect in the control device is quickly provided. Obtainable. That is, if it is revealed in the control mechanism of the supervisory-control module that the grip did not receive, for example, a work piece or part of a work piece, this may be attributed to a lack of parts in the part supply device. Whether or not the operator's glance is enough. By clarifying the source of this actual flaw,
The failure can be removed very quickly. Similarly, if the assembly equipment is tied together, a failure in manufacturing
That is, the fault can be removed before it affects the flow work.

According to the invention, the electric control module is arranged so that it can be inserted onto a distribution rail or a support plate, on which another electric control module, an energy supply unit, a control unit, a switching module, A connection device for connecting the connection conductors and the control line, a plug face for connecting the monitoring mechanism can be arranged on the monitoring-control module. This solution has the advantage that a small number of connecting devices is sufficient, so that a very compact control device is constructed and leakage losses and failures due to wear in the connecting devices are avoided as much as possible. At the same time, it is possible to make wiring and connecting lines before mounting the electrical control module or the monitoring-control module. A further very important advantage is that the connecting line is not disconnected during maintenance work or necessary replacement of the electrical control module. That is, only the damaged module can be removed and replaced with a new module.

Furthermore, it is advantageous if the monitoring-control module is connected to the electrical control module and is operatively connected to the central control unit via a control line, in which the alarm mechanism is arranged. This is because, as a result, an indication of a fault is not only possible directly in the area of each device, but also in the area of the central control unit.

Furthermore, according to the invention, the distribution rail or the support plate comprises external and internal connecting lines, for example control lines and signal lines, in particular an electrical control module or a group of electrical control modules and possibly a control unit or the like. It is also possible to form a main connection line between. Arranging the distribution rail as the main connection line is characterized by stability and high resistance to mechanical loads. This arrangement can therefore also be inserted into highly loaded machine tools without the risk of damaging the control lines which are important for the control process. Furthermore, in such a distribution rail, it is also possible to provide a sealed line and to avoid the influence of other current circuits, so that the logic units of a plurality of electric control modules arranged side by side or apart from each other. Information can be directly exchanged between the logical operation units.

Furthermore, the distribution rail consists of a plurality of parts, which are designed to be removable and replaceable, the connection of the individual lines between these parts being insertable as required. It is advantageous to carry out via. This allows the length of the distribution rail to be adapted to the number of electric control modules used in each case. Furthermore, the use of a plurality of electrical control modules connected by inserting different plug members allows the same line to be involved in the connection of different electrical control modules.

Further, according to the present invention, the switching module, the supporting plate, or the unit thereof is arranged so that it can be mounted on the distributor, and on the distributor,
It is also possible to arrange a coupling device for connecting the connection line to another switching module, an energy supply unit or a drive of the manufacturing facility. As a result, the entire installation associated with the electric control module can be performed independently of the electric control module, and when the switching module is replaced, the connecting line to the module to be connected or the energy supply unit is disconnected. This is advantageous because it does not need to be fixed again. As a result, both the costs required for the construction of machines with the control device according to the invention and the maintenance costs during operation are reduced.

Finally, according to the invention, the pressure medium introduction line for the valve body and the connection line for the pressure medium return line switching mechanism are arranged in the distributor, which is a part of the plug connection, for example an opening. The valve body region is arranged opposite the part of the plug connector provided in the switching mechanism, for example the connecting piece, so that the distributor body in particular accommodates a plurality of valve bodies or switching mechanisms. It is also possible to form it. With this configuration, it is possible to reduce the number of connecting elements in various pressure medium systems, so that leakage losses can be advantageously prevented.

Next, an embodiment of the present invention will be described with reference to the drawings.

[0041]

DESCRIPTION OF THE PREFERRED EMBODIMENT In FIG. 1, three work stations 2, 3 and 4 for a production facility 1 are shown. Each work station 2 to 4 is equipped with an energy supply unit 5 for pressure medium or electric energy. These work stations 2 in the manufacturing facility 1
3, 4 can be configured as a manual work place or an automatic work place as required. For that purpose, each work station is provided with an equivalent base frame 6, which is supported on the base via a support piece whose height can be adjusted. A transfer device 7 having a drive device 8 is arranged above each work station. The drive device 8 which is, for example, an electric motor is equipped with a friction roller 9. The friction roller 9 is in contact with the side surface of the work support, and the work support is advanced by the friction roller 9 in the direction of the arrow 11 along the transport device 7. On each work support 10 are fixed parts 12 to be machined in the individual work stations 2-4. Correspondingly, these work stations 2 to 4 are equipped with various processing and assembling devices 13. This processing and assembling apparatus may be a swivel riveter, a fully automatic screw tightener, a press tool, or an operating device 14 as shown in the work stations 3 and 4.
Alternatively, it can be configured by the fitting unit 15. By means of the operating device 14, for example by means of a grip 16 attached thereto, individual components, for example contacts,
A guide aid or the like can be placed in the center of the component 12.
In contrast, the setting unit 15 is most often used, for example, for setting sheets or rivets on the part, so that the setting unit is often provided with a vacuum gripper 17. More specifically, the operating device 14 has a column stand 18 on which a support 19 is supported so that its height can be adjusted and fixed. The support 19 comprises guide bushes for the two guide rods, on which the holder 20 is mounted. The holder 20 can be adjusted in its level with respect to the upper part of the work station 3 and, of course, the support 19 by means of a guide column and a driving device 21, which is a cylinder operated by compressed air or hydraulic pressure. It can be formed as a piston device. The drive device 21 is supported in a support 19, the piston rod of which is connected to the holder 20. A grip 16 is supported on the holder 20 so as to be movable in the longitudinal direction of the transport device 17, and thus in the direction of arrow 11. Monitoring mechanisms 22 and 23 are provided to monitor the movement of the holder of the operating device 14 or the driving device. A shock absorber 24 is attached to these monitoring mechanisms in order to limit the stroke of the drive unit 21. Especially for the energy supply of the drive device 21, the operating device 14
The control device 25 is arranged in the area of. A control device 26, which is similarly configured, also has a fitting unit 15
Is attached to. These control devices are connected to the main connection line 2
7 to the central control unit 28. This main connection line 27, like the transport device 7, can be connected when assembling or connecting the work stations 2 to 4 arranged side by side. Also, a monitoring mechanism 29 (of which the ones in the areas of work stations 3 and 4 are shown) provided for monitoring the movements of the drive device 8 and the work support 10 and the work stations are attached to these work stations. The drive device and the monitoring mechanism of the component supply device 30 are connected to the main connection line 27. In addition to a central control unit equipped with a switch 31, a push button 32 and a measuring device 33, and an alarm mechanism for controlling, monitoring and possibly issuing control commands of the manufacturing facility 1, each individual workstation 2-4 A separate independent monitoring and control device 35 can be arranged, for example as shown at work station 4. The alarm mechanism 36 and the control command device can be provided in this as well.

In FIG. 2, the operating device 14 of the work station 3, the drive device 8 attached to the transfer device 7, the monitoring mechanism 29 attached to the drive device 8 and the control device 25 are enlarged and It is shown in a simplified form.

As shown in FIG. 2, in the holder 20, a drive device 37 formed by a cylinder-piston device without a piston rod for displacing the grip 16 supported in an intermediate support 38. Are arranged.
The control device 25 attached to the processing and assembly device 13 and in the special case the operating device 14 comprises a plurality of switching modules 39, 40 and several electric control modules 4.
1 is comprised. Switching module 39,
40 is an electric control module 41 on the distribution rail 24.
Are fixed on the distributor 43. The distributor rail 42 and distributor 43 both consist of a plurality of individual parts 44, 45, 46 and 47, 48, 49. These parts 4
4 to 49 are configured to accommodate a prescribed number of switching modules 39 and 40 and electric control module 41, respectively. The number of electrical control modules or switching modules 41, 39, 40 arranged on each such part can be chosen arbitrarily within the framework of the invention. In the case of this embodiment, the distribution rail 42 is fixed to the distributor 43. In particular, this embodiment is characterized in that the control unit for giving commands, that is to say the electric control module 41, is assembled in a compact form and can be adapted to its intended use in various combinations.

The control devices 25 and 26 are provided with a coupling device 50 for the terminals of the monitoring mechanism attached to the drive device to be controlled, on the upper part of the electric control module 41, so that the entire effectiveness thereof is emphasized. To be done.

The switching module 39 comprises an electrical switching mechanism for controlling the drive device 8, while the switching module 40 comprises an electromagnetically operable pressure medium, as will be explained in more detail with reference to the following figures. It is formed by the valve 51.

In order to supply the pressure medium to this valve 51,
A pressure medium supply line 52 leads from the energy supply unit 5 and supplies the central distribution channel in the distributor 43 with energy. In order to return the pressure medium from the valve 51 and the drive device (eg 21, 37), a unique collecting channel is arranged in the distributor 43, which channel is connected via the pressure medium return line 53 to the compressed air. In the case of, the silencer 54 is connected, and in the case of using a hydraulic device, it is connected to the tank. The end of the supply channel facing the supply line 52 is closed by a plug 55. Individual distributors (individual parts 44, 45,
To tightly bond 46), O-rings, or metal sealants, or other solvents known in the art can be used. Distributor or distribution rail 42, 43
The connection of the individual parts of is done by bolts 56 or any connecting means.

FIG. 3 shows a cross section of a combination of the switching module 40 and the electric control module 41. As can be seen from this figure, a dovetail-shaped guide member 57 is arranged at the bottom of the distributor 43. With this guide member 57, the distributor 43
The individual portions 44, 45 and 46 of the are supported within corresponding opposing portions and can be assembled to any length. Within the distributor 43 there is a central distribution channel 58 for supplying pressure medium to the individual switching modules 40 and a collecting channel 59 for returning the pressure medium from the switching modules.

These switching modules 40 are
It has a drive unit 60 and a valve body 61. The valve body 61 has a connecting device 62 in which inlets and outlets 63, 64 are arranged, which are in communication with a central distribution channel 58 and a collecting channel 59, respectively. Further, the valve body 61 is provided with a pressure medium outlet hole 65 for connecting with a load. The pressure medium outlet hole 65 and the distributor 43
The connection with the central distribution channel 58 or the collecting channel 59 inside is made via a control piston 66, which is connected to an armature 67 of the drive 60 via a piston rod. The armature 67 is displaced by alternately energizing the coils 68 and 69. Electric input terminal 7 for energizing the coils 68, 69
0 and 71 are combined as another connecting device 72 in the drive unit 60. The coupling device 72 is used to couple the switching module 40 and the electric control module 41 provided in correspondence therewith. In addition to the coupling device 50 for the monitoring device, the electrical control module 41 also has a coupling device 73, which can consist of multiple plugs 74. The electrical control module is connected to the distribution rail 42 via the coupling device 73.

FIG. 4 is an enlarged three-dimensional view of the same switching module and electric control module 40, 41 as in FIG. In this case, the electrical control module 41 is shown separated from the distribution rail 42 and the drive 60 of the switching module 40. Further, in this case, it is also shown that the drive unit 60 of the switching module 40 and the valve body 61 can be separated from each other. The valve body 60 is also shown separated from the distributor 43. Dashed line 75 shows how the individual parts of the switching module 40 are adapted to be coupled and how they can be coupled to the electrical control module 41.

From this figure, the construction of each coupling device 62, 72 and 73 can be read. That is, a connecting device 62 for connecting the pressure medium inlet 63 and the pressure medium outlet 64 with the central distribution channel 58 and the collecting channel 59 was inserted into the distributor with the connecting piece 76 inserted in the inlet 63 and the outlet 64. It is formed by the opening 77. The connection between the drive 60 and the valve body 61 is effected, for example, by means of an assembly member 78, which can have a screw for being screwed into the piston rod of the control piston 66. The coupling devices 72 and 73 are formed by multiple plugs. The drive unit 60 in the coupling device 72
The input ends 70, 71 of the connector are formed as plug members 79, whereas the corresponding parts of the coupling device 72 are constituted by bushes 80 in the electrical control module 41. The multiple plugs in the coupling device 73 and the coupling device 81 are configured to be slightly different. By means of a coupling device 81, the individual parts 48 of the distribution rail 42 can be connected to the parts 47 to 49 which follow (see also FIG. 2). In this case, only the bushes 82 are provided at the portions to be connected to each other. Coupling device 73, 81
If two corresponding bushes of both parts of the plug are to be joined together, the plug member 83 is inserted into one of the bushes 82.

Due to the different configurations of the coupling devices 73 and 81, the control line and the signal line included in the distribution rail 42 can each be coupled to only one of the electrical control modules 41. The same applies, of course, to the use of the control and signal lines of the distribution rail 42 itself, ie the individual parts 47, 48, 4 arranged in sequence.
The same applies to the connection of 9 or of the distribution rail 42 to the multiple plug 84 (see FIG. 2) which connects to the central supply line 27.

In the following description, a configuration in which the monitoring-control module is provided will be described with reference to FIGS.
A control module is a module that monitors signals and sends out control signals. This module is shown in FIGS. 5 and 6 as reference numeral 86 and in FIGS. 7 and 8 as reference numerals 122 and 142, respectively. As will be described in detail later, in the case of the embodiment of FIG. 6, for example, the inverter 113 and the AND circuit 11
The 4 and time circuit 115 allows for monitoring of cylinder movement. If no cylinder movement takes place, this is detected on the basis of the monitoring and control module and a corresponding fault message is displayed. Of course, this supervisory-control module-the same supervisory function can also be performed by software instructions-can be implemented in hardware using circuit components.
And as shown in FIG. 8, the monitoring-control module 142
And the electric control module 137 is arranged on the support plate 141. The electrical control module 41 can be coupled with the monitoring-control module 86 via a coupling device 85 for monitoring and control, or for performing monitoring and control functions. The coupling device 85 can be configured corresponding to the coupling device 72 or 73. Additionally, the monitoring and control module 86 can be provided with a warning mechanism 87 and pushbuttons or switches for emergency functions, and a key 88 for emergency stop. Therefore, the monitoring module 86 has the following circuit components.
That is, this circuit component is based on the input signals of the monitoring mechanisms 22, 23 and 29 and the outputs of the control lines and signal lines combined in the connection device 85, and the position of the drive unit or the processing-assembly device and the component supply device. Can be displayed on the alarm mechanism 87. At the same time, this display can be performed on the alarm mechanisms 34 and 36 of the central control unit 28 and the supervisory control device 35. However, the monitoring-control module 86 is not attached to each electric control module 41. A control module 86 associated with the work station can also be arranged in the monitoring and control device 35 or the control unit 28 in order to instruct the operator on the individual assembly steps in which the work process is interrupted.

In FIG. 5, the switching modules 39, 40 and the electrical control module 41 arranged on the individual parts 44, 45, 47, 48 of the distributor 43 and the distribution rail 42 shown in FIG. It is shown in a block diagram with the associated drives 8, 21 and monitoring mechanisms 22, 23, 29. One of the electric control modules 41 (corresponding to the one shown in FIGS. 3 and 4) is associated with a monitoring-control module 86.

Distribution rail 42 includes two different groups of lines, control line 89 and signal line 90.
The control line 89 is used to guide information or a switching command from the control unit 28 or the monitoring-control device 35 and another monitoring mechanism placed far away to the photocoupler 91 of the electric control module 41. As shown in the drawings, the individual control lines 89 and signal lines 90 are interlocking devices 81 between the individual parts of the distribution rail.
In the area of, the connection is made by the plug member 83 shown in FIG.

In this way, certain information can be transmitted only to the specific control module 41. For example, the information of the central signal line 90 can be configured to be transmitted only to the electric control module 41 shown here at the end. That is the plug member 8
This is because it is impossible to transfer these pieces of information to the next connected electric control module 41 due to the lack of 3. Similarly, the information directed to the electrical control module 41 can be determined by the number of plug members of the coupling device 73 between the electrical control module and the distribution rail 42. In the illustrated embodiment, the distribution rail 42 is simultaneously used also as the main connection line 27. Because that
As is apparent from the figure, the control unit 28 and the monitoring-control device are directly connected to the distribution rail 42 via its terminals.

The signal line 90 is used to assist the control line and transmit direct information between the logic elements of the individual electric control modules. These logic elements 92
Can be configured in analog and digital fashion with integrated electronic components, or by a microprocessor. An output amplifier circuit 93 is connected to the output side of these logic elements 92.
Information from the logic element 92 via the control unit 28
Alternatively, it can be transmitted again to the control line 89 for transmission to the monitoring-control device 35, or other electric control module, and the drives 8, 21, etc. of the manufacturing facility 1. Furthermore, via this output amplifier circuit 93, the signal is processed and amplified for operating the switching module 40.

Similarly, a monitoring mechanism 22, 23, 29 which can be formed by a non-contact type proximity switch, for example.
Of the logic element 92 via the photo coupler 91.
Be led to.

By arranging in this way, a unique logic circuit can be provided in association with each switching module 40 and therefore each valve 51. The cost of the control device therefore corresponds very precisely to the control functions required. That is the switching module 4
This is because the electric control module 41 attached to No. 0 can be configured in accordance with the required minimum parts which are found from the practice in its size. In order to make the exact same electrical control module as common as possible, it is certain to try to provide more switching elements than required, and as a result a kind of preliminary configuration for complex control processes. Is given by a complex stitching.

However, as already shown in FIG.
Instead of arranging one electric control module 41 for each switching module 39 or 40, for example, five switching modules 39, 40
In contrast, it is also possible to easily attach one electrical control module 41, in which case the electrical control module is correspondingly extensively equipped. In each case, however, the surprising advantages remain, whereby this combination of electrical control module and switching module allows the respective control and switching device to be placed as close as possible to the drive or load. In connection with the wide variety of coupling devices 81, 73, 72, a control device is obtained which is very clear and can be manufactured at a low cost and which can be expanded immediately afterwards without incurring any significant cost. In the above-described embodiment, the switching module 39 is formed as a switching mechanism 94 realized as a large current switchgear, a control electromagnetic contactor, a relay, or the like, or the switching module 40 is formed as a simple valve 51. However, the person skilled in the art can easily adapt the solution of the present invention to other arbitrary switching, operation of the operating device, and monitoring.

Also, the electrical control module 41 is monitored-control module 8 as shown in one in FIG.
Tying with 6 is also particularly advantageous. The monitor-control module 86 is connected to the pressure monitor 96 arranged on the pressure medium line 95 to the drive unit 21 and the monitor mechanism attached to the electromagnetic drive unit 60, and the output signals thereof are connected to the photocoupler 91.
Via the monitor-control module 86 via
When the output signal of the module 86 is sent to the control unit 28 or the monitor-control device 35 via the output amplifier 93, it is easy to directly indicate the respective causes when a failure occurs. If, for example, a microcomputer is used, the actual defects can be recorded.

For example, if the output signal is not output from the monitoring mechanism 22 for a predetermined period after the drive unit 60 is energized and the pressure monitor 96 responds, the drive unit 21 is started by the alarm mechanisms 34 to 36. It is possible to display that the monitoring mechanism 22 does not work. Thus, the operator can focus on the target and take action to eliminate the fault. This saves valuable time to find defects and can significantly reduce downtime of manufacturing equipment.

In FIG. 6 the electrical control module 41 is shown in its photocoupler 9 in order to explain the possible course of action.
1, logic element 92 and output amplifier 93 are shown enlarged. The logic element 92 includes a control unit 97 and a logic operation unit 98. Control unit 97
Is composed of, for example, an inverter 99 and a time circuit 106, while the logical operation unit 98 includes an AND circuit 10
1, 102, 103 and an OR circuit 104. Here, for example, when a signal is applied to the input terminal 105 from the control line 89, one line to the AND circuit 101 takes the switching state L via the photocoupler 91. In this signal, for example, a start command from the control unit 28 can be handled. Input end 10
When 6 is also energized via the signal line 90, the AND circuit 1
The second input terminal of 01 also takes the signal state L. Therefore A
The output terminal of the ND circuit also assumes the state L. This switching state L or the input terminal 1 at the output terminal of the AND circuit 101
Due to the switching state L at 07 (which means, for example, that another switching module 4 via the signal line 90
The switching state L occurs at the output end of the OR circuit 104. If the input 108, which is connected to the control line 89 leading from the control unit, is zero for a time T1, for example to wait for an overlapping operation with another electric control module,
The output terminal of the time circuit 100 enters the switching state L after the time T1 via the inverter 99. At this time, since both input terminals of the AND circuit 102 have the switching state L, the L signal similarly exists at the output terminal of this AND circuit, and this signal passes through the output amplifier circuit 93 for operating the valve 51. It will be amplified.

The L signal at the output end of the AND circuit 102 and the signal at the input end 109 connected to the monitoring mechanism 22 via the connection line 110 cause the switching state L on the subsequent signal line after passing through the photocoupler. .
Therefore, the switching state L exists at both input terminals of the AND circuit 103, and the output signal L generated thereby is
It is guided to the output terminal 111 of the electric control module 41 via the output amplifier circuit 93 and transmitted to the control unit 28 or the monitor-control device 35 via the control line 89.

After the period set in the time circuit 100 elapses, its output terminal assumes the switching state L,
This switching state is amplified via the output amplifier circuit 93 and, for example, via the output end 112 and the connected control line 89, the monitoring-control module 8 for execution notification.
You can lead to 6.

Next, the operation of the monitor-control module 86 will be described.
A possible embodiment of such a module will be described as shown in FIG. The monitor-control module 86 includes an inverter 113, an AND circuit 114 and a time circuit 115. The pressure monitor 96 is connected to the input end 117 of the electric control module 41 via a lead wire 116.
The input terminal 117 is connected to the module 8 via the photo coupler 91.
6 AND circuit 114. This AND circuit 114 has another input end, and this input end has an inverter 1
It is connected to the input end 109 of the electric control module 41 via 13 and the photo coupler 91. AND circuit 1
A third input terminal 14 is an AN of the electric control module 41.
It is connected to the output terminal of the D circuit 102. The output terminal of the AND circuit is connected to the output terminal 118 of the electric control module through the time circuit and the amplifier of the output amplifier circuit 93.

The operation of the monitor-control module 86 for instructing the respective operating states of the driving device 21 and the operating device 14 is as follows. That is, when the drive unit 60 of the valve 51 is energized via the output terminal of the AND circuit 102 and the output amplifier of the output amplifier circuit 93, an input signal is simultaneously applied to one of the three input terminals of the AND circuit 114. To be When the valve 51 is opened here and the pressure medium enters the cylinder chamber of the drive unit 21 from the energy supply unit, this pressure change is detected by the pressure monitor 96 and the output signal from the pressure monitor 96 via the connecting line 116. Is an electric control module 4
1 is input to the input terminal 117. This signal passes through the photocoupler 91 and reaches the other input terminal of the AND circuit 114. Since the monitoring mechanism 22 is not operating at this point,
The 0 signal dominates the input line to the inverter 113. Therefore, the switching state L exists at the output terminal of the inverter 113. Therefore, a signal is applied to all three inputs of the AND circuit 114, and accordingly, immediately after the output signal is generated in the pressure monitor 96, the AND circuit 114 becomes conductive and further supplies a signal to the time circuit 115,
This signal provides the starting pulse for time detection. Here, if the cylinder does not allow the monitoring mechanism 22 to function after a given period of time required for the movement of the piston rod, or if the monitoring mechanism 22 does not respond,
After the set period of time has elapsed, the output signal is provided to the amplifier of the output amplifier circuit 93, which signal is output via the output 118 to the alarm mechanism 34, 36 or 87 in the control unit 28, the monitoring-control device 35, or Directed in the supervisory-control module. This signal can simultaneously give an indication or display of the actual defect state. In this embodiment, the computer will indicate that the drive 21 is activated and the monitoring mechanism 22 is inactive. Therefore, the operator can immediately narrow down the target and take action to eliminate the failure, and the stop state of the manufacturing equipment 1 can be suppressed to be extremely short.

The above-described configuration of the monitor-control module 86 is not, however, limited to such a configuration. In order to better understand the features of the present invention, the possible actions of one example are described here. Of course, in practice, the monitor-control module could also be configured to be displayed on the alarm mechanism when no signal from the pressure monitor 96 occurs. That is, it can be configured to be displayed when the drive portion 60 of the valve 51 is energized and no pressure is generated in the conduit to the drive device 21.

The degree of fineness of the monitoring-control function is determined by the difficulty of the machine, the desired maximum removal time for damage. On the one hand, two or three of these kind of monitoring and control modules 86 can be installed in a work station which requires the maximum amount of time to perform a work operation in this line of production equipment.
Or four can be provided. As a matter of course,
Failures at such stations are significantly greater than failures at work stations that take significantly less time and affect the overall work of the manufacturing facility. Thus, when the transport device 7 is loosely tethered to the work piece support 10, in the case of a malfunction in the work station whose required time is below the limit, and in the case of a failure of the accumulation effect provided by the loose tether in the machine, All stationary states of the machine are blocked sooner at work stations where the required time is capped.

In FIG. 7, even for a group of valves 119 which can be arranged on a common distributor 120, only one electrical control module 121 is provided, together with an associated monitoring-control module 122. Has been shown to be possible. The connection between the electrical control module 121 and the monitoring-control module 122 can be made by means of a coupling device 123 formed by multiple plugs, while
The connection with the drive 124, which together with the valve 119 forms the switching module 125, can be made by a multiple plug 127 via a coupling device 126. The switching modules 125 are preferably arranged in a group of modules and individually removably arranged on the distributor 120, which is preferably arranged to accommodate 3, 6, 9 or 10 switching modules 125, respectively. be able to.

FIG. 8 shows a switching module 129, which has a support plate 130,
A plurality of drive parts 131 and a valve body 132 are incorporated in this support plate. The drive 131 and the valve body 132 can optionally be combined into their own units 133 and 134, respectively, so that the entire support plate 130 need not be replaced if the valve body or one of the drives is damaged. . In such a case, when one of the driving parts 131 is damaged, the unit 133 having six driving parts may be replaced, or the driving part 131 and the valve body 132 may be mounted on the common support plate 130. If so,
The entire support plate 130 may be replaced.

This solution over the embodiments according to FIGS. 2, 3 and 4 has the advantage that only a few connecting devices are required. In particular, this kind of coupling device is prone to premature failure due to leakage points or defective contacts,
As a result, it is possible to prevent the breakdown from occurring. Another advantage of the embodiment according to FIG. 8 is that the terminal 135 for the connecting line and the terminal for the pressure air supply line from the energy supply unit 5 or to the exhaust channel are in the distributor 136 housing the support plate 130. By arranging the switching module 129, the connection line, the compressed air supply line and the control line can be attached regardless of the presence of the switching module 129.

The connection between the support plate 130 and the unit 133 and the electric control module 137 attached thereto is made via a distribution rail 138, and the drive unit 131 and the electric control module 137 are connected to this distribution rail. Multiple plugs 139 for arranging are arranged. The distribution rail 138 is connected via a multiple cable to a multiple plug 140, which is directly mounted on the control module 137 or on a support plate 141 containing the electrical control module. When the support plate 141 is provided, the electric control module 137 and the optional monitor-control module 142 are independently mounted on the support plate 141. A monitoring mechanism, such as an electromagnetic proximity switch, a control device or a limit switch, provided for driving the machine or the individual devices, is likewise directly connected to its own plug surface 143 on the support plate 141. be able to. The connection between the support plate 141 and the central control unit can be made via the multiple plugs and the main connection line 144. The electric control module 137 is also used to monitor the electric control module 137 by using the support plate 141.
It opens up the possibility that the connecting lines can be attached or manufactured without pre-assembling with the control module 142. Therefore, in the case of maintenance work or necessary replacement work of these modules, the connection line is not removed, and only the defective module can be removed and a new module can be installed. Therefore, the time required for such maintenance work can be extremely shortened.

Of course, in the present invention, both support plates 13
It is also possible to configure 7,130 for a certain number of valve bodies and actuators, or electrical switching devices such as relay contacts and their associated amateurs. In this case, in particular, it is possible to use modules having 3, 6 or 9 drives or valves or switching devices. Thus, as a whole, both for holding the alternatives and more appropriately in the machine, they are combined in one block or switching module or electric control module, for example 3,6.
Or it is possible to use a standardized unit with 9 drives, valve bodies or switching mechanisms, which do not require all of these drives, valve bodies or switching mechanisms under the given conditions of use. This is also the case. Moreover, with such an arrangement, a predetermined preliminary configuration is formed so that no additional costly additional mounting work is required when arranging another drive later.

In order to make the electric control module 137 as common as possible, its housing 14
It is also possible to provide a plurality of replaceable or insertable print cards 146 in the housing 5, so that a damaged electrical control module can be repaired easily and quickly and the housing 145 can have different control characteristics. It can also be used for electric control modules with.

The housing 147 of the electric control module 41 in FIG. 4 can also be provided with a plurality of replaceable print cards 148. Furthermore, in FIG. 4, it is not necessary to arrange the pressure medium outlet hole 65 or the coupling device 50 in the valve body 61 or directly in the electric control module 41 in this embodiment either.
It is also conceivable for the modification to be arranged inside the valve 3, so that when replacing the valve body 61, it is not necessary to remove the connection line connected to the pressure medium outlet hole 65 or the monitoring mechanism.

Further, in the present invention, as shown in FIG. 7, the electric control module 121 and the monitor-control module 122 are arranged on a common support plate, and on this support plate, a plug for the monitor device is also provided. Surfaces, terminals for multiple plugs for the main connection lines, and terminals for loads when switching devices with electric drives for switching modules, such as relays, are handled, can be provided.

According to a modification of the connection diagram shown in FIG. 6,
Control line 89 connected to input ends 105 and 108
Can be connected to the main connection line 27 via the input conversion unit 149. Similarly, the output end 108 can be connected to the main connection line 27 via the output conversion unit 150.

The input / output conversion units 149, 15
0 can be configured as a collector and converter for the input or output signals of the electrical control module 41.
An A / D converter or a converter for converting an electrical signal into an electronic / optical signal can be used as the input / output conversion unit. The latter conversion unit makes it possible to transmit signals in the form of light pulses over long paths and without significant disturbance in the coupling device.

The input / output conversion units 149 and 150 are provided in order to enable collective information transmission between the electric control module 41 and the main control module 28.
A temporary memory 151 can be arranged between the main connection line 27 and the main connection line 27.

Finally, it should be mentioned that the present invention is not limited to the switching unit and the logical operation unit described in the individual embodiments, but any one known in the prior art can achieve the objects of the present invention. It can be used for. The same applies to the switching modules whose switching devices can be formed by valves and electrical switching devices, each according to the drive to be controlled. This switching device is divided into an electric drive and a contact block or similar device.

Similarly, the device according to the invention for controlling and monitoring machines is not only for manufacturing equipment, but also for various machines, vehicles, etc., and thus for control and monitoring devices, there is little assembly cost and quick repair. Can be used in any department where high demands are placed on. Particularly advantageous fields of application are packaging machines, trams, railways, aircraft,
And various large capacity working machines.

[0082]

According to the present invention, in the control device for a machine, which has conventionally been difficult to perform maintenance work and the assembly cost is extremely high, an electrical or electronic control means is used as a mechanical control member for a valve. In a small space (compact)
In combination, a modular machine control or monitoring device is realized which consists of very few components and is easy and fast to replace.

[Brief description of drawings]

FIG. 1 is a structural layout view of a manufacturing facility equipped with a machine control and monitoring device according to the present invention.

FIG. 2 is an enlarged structural layout view showing an operating device of a work station of the manufacturing facility of FIG.

FIG. 3 is a sectional view taken along the line III-III in FIG.

FIG. 4 is a development view of a control device including a distribution rail, a distributor, a switching module and an electric control module according to the present invention.

5 is a block diagram of a control device of the work station shown in FIGS. 1 and 2. FIG.

FIG. 6 is a block diagram of a switching module of the control device shown in FIGS. 2 and 4.

FIG. 7 is a structural layout view of another embodiment of the apparatus according to the present invention.

FIG. 8 is a structural layout view of a different example of the control device according to the present invention.

[Explanation of symbols]

1 manufacturing equipment, 5 energy supply unit, 8
Drive device, 13 Processing device, Assembly device, 21 Drive device, 22 Monitoring mechanism, 23 Monitoring mechanism, 25 Control device, 26 Control device, 27 Connection line, 28
Control unit, 29 monitoring mechanism, 35 monitoring-control device, 39 switching module, 40 switching module, 41 electric control module, 4
2 distribution rails, 43 distribution bodies, 50 coupling devices,
62 connecting device, 72 connecting device, 73 connecting device, 74 multiple plugs, 81 connecting device, 84
Multiple plugs, 85 coupling device, 86 monitoring-control module, 89 control line, 90 signal line, 1
10 connection line, 116 connection line, 12 distributor, 121 electric control module, 122 monitoring-control module, 123 coupling device, 124 drive part, 125 switching module, 126 coupling device, 127 multiple plugs, 128 switching module group, 129 Switching module,
131 Drives, 135 Connection Lines, 136 Distributors, 137 Electrical Control Modules, 138 Distribution Rails, 139 Multiple Plugs, 140 Multiple Plugs, 142 Monitoring-Control Modules, 144 Connection Lines

Claims (2)

(57) [Claims] 1. A control or monitoring device for a machine, comprising:
Control unit (28) and the control unit (28)WhenConnection
For the drive of the machine (8, 21, 37)
A control device (25, 26) is provided, and the control device (25, 26) is a switching module.
(39, 40, 125, 129) and control module (4
1, 121, 137) and a plurality of switching modules of one control device (25, 26).
Joule (39,40,125,129) is one
Are grouped in a group of touching modules (128),
The switching module group (128),Fit this
The control module (41, 121, 137)The same
CrabConnected to the control module (41, 121, 137)
Itching module (39, 40, 125, 129)
Electric drive ofDepartment(60, 124, 131) Or Sui
Electrical or electric for energizing the latching mechanism (94)
A child-like control unit (97) is provided for
Control module (41, 121, 137) is an electrical distribution
It is arranged on the rails (42, 138), and the switches in one switching module group (128) are arranged.
Itching module (39, 40, 125, 129)
Is arranged on the pneumatic distributor (43, 36),
One switch on the pneumatic distributor (43, 136)
Switching in the switching module group (128)
Module (39, 40, 125, 129)Or energy
Lugie supply unit (5)Or mechanical drive (8,
Connection line (65, 52) to (21, 37)
A coupling device (62) for arranging the pneumatic distributor (43, 136) into a plurality of individual parts.
(44, 45, 46), the distribution rail (4
2, 138) consists of multiple individual parts (47-49).
On each individual part of the pneumatic distributor (43, 136)
Is at least one switching module (39,
40, 125, 129) or switching modules
A group (128) is mounted and one control model is mounted on the distribution rails (42, 138).
Joule (41,121,137)But,AlsoDriveMovementDepartment
(131)ControlControl module (41, 121, 137)
Multiple plugs for connecting with (139) Is attached
Machine control or monitoring device characterized by: The control or monitoring device wherein the machine includes a control unit (28), which is a contact <br/> connection control unit (28), the machine drive for the (8,21,37) A control device (25, 26) is provided, and the control device (25, 26) includes a switching module (39, 40, 125, 129) and a control module (4).
1, 121, 137), a plurality of switching modules (39, 40, 125, 129) of one control device (25, 26) are combined into one switching module group (128),
The switching modules (128), Flip and this keyed control module (41,121,137)
And a switching module (39, 40, 125, 129) connected to the control module (41, 121, 137).
An electric or electronic control unit (97) for energizing an electric drive unit (60 , 124, 131 ) or a switching mechanism (94) of the control module (41, 121, 121). 137) or switching modules (39,40,125,129)
Monitoring-control module (86,122,142) is assigned to the monitoring-control module (86,122,142)
Is operatively connected to a machine monitoring mechanism (22, 23, 29) or a drive (8, 21, 37), and the monitoring-control module (86, 122, 142) is provided with a switching mechanism. cage, the switching mechanism, the monitoring mechanism (22,23,29) or when the output of the drive unit (8,21,37) does not appear, or driving instrumentation 置Ma other displays the status of the monitoring mechanism Alarm mechanism (3
4, 36, 87) is activated when a fault signal is input to the input side of the monitor-control module (86, 122, 142) and the control module (41, 121, 137), and the support plate (141 ), The switching module (39, 40, 125, 1)
29) is the control module (41, 121, 13) to which it belongs.
7) and the supervisory-control module (86, 122, 14
A machine control or monitoring device, characterized in that it constitutes a control device (25, 26) together with 2).